{"id":"https://openalex.org/W2094518186","doi":"https://doi.org/10.1109/icsmc.2010.5642396","title":"Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles","display_name":"Collision avoidance in a recursive nested behaviour control structure for Unmanned Aerial Vehicles","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2094518186","doi":"https://doi.org/10.1109/icsmc.2010.5642396","mag":"2094518186"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2010.5642396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2010.5642396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108572101","display_name":"Amr Kandil","orcid":null},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Amr A. Kandil","raw_affiliation_strings":["Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]},{"raw_affiliation_string":"Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060935287","display_name":"Achim Wagner","orcid":"https://orcid.org/0000-0002-0966-2559"},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Achim Wagner","raw_affiliation_strings":["Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]},{"raw_affiliation_string":"Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044754303","display_name":"Alexander W. Gotta","orcid":null},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Gotta","raw_affiliation_strings":["Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]},{"raw_affiliation_string":"Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109923397","display_name":"Essameddin Badreddin","orcid":null},"institutions":[{"id":"https://openalex.org/I177802217","display_name":"University of Mannheim","ror":"https://ror.org/031bsb921","country_code":"DE","type":"education","lineage":["https://openalex.org/I177802217"]},{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Essameddin Badreddin","raw_affiliation_strings":["Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation Laboratory, Institute of Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]},{"raw_affiliation_string":"Automation Laboratory, Institute for Computer Engineering, University of Heidelberg, Mannheim, Germany","institution_ids":["https://openalex.org/I177802217","https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1735,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.76756577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4276","last_page":"4281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.9259501695632935},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.683934211730957},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6554092168807983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6222807168960571},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.539032518863678},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.5295689105987549},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49159154295921326},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4483463168144226},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4468803405761719},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4412716031074524},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.43826648592948914},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36049455404281616},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3497233986854553},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32548412680625916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30073416233062744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26284921169281006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2531636357307434},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10192939639091492}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9259501695632935},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.683934211730957},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6554092168807983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6222807168960571},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.539032518863678},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.5295689105987549},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49159154295921326},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4483463168144226},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4468803405761719},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4412716031074524},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.43826648592948914},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36049455404281616},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3497233986854553},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32548412680625916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30073416233062744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26284921169281006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2531636357307434},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10192939639091492},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2010.5642396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2010.5642396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W121040188","https://openalex.org/W1264535435","https://openalex.org/W1571414420","https://openalex.org/W1580603549","https://openalex.org/W1593982112","https://openalex.org/W1995018880","https://openalex.org/W1995293461","https://openalex.org/W2048662047","https://openalex.org/W2122827520","https://openalex.org/W2143787226","https://openalex.org/W2144003387","https://openalex.org/W2177274602","https://openalex.org/W2255841532","https://openalex.org/W2292359550","https://openalex.org/W2521411480","https://openalex.org/W2728952654","https://openalex.org/W6692019136","https://openalex.org/W6740469116","https://openalex.org/W6836852101"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2321940404","https://openalex.org/W2022120107","https://openalex.org/W2473759166"],"abstract_inverted_index":{"In":[0],"this":[1,91],"paper,":[2],"the":[3,27,72,77,122],"collision":[4,66,94,123],"avoidance":[5,67,95,124],"behaviour":[6,11],"in":[7,76],"a":[8,97,109],"recursive":[9,29],"nested":[10],"control":[12,30,50],"structure":[13],"for":[14,102],"Unmanned":[15,80],"Aerial":[16,81],"Vehicles":[17,82],"will":[18,87],"be":[19,71,88],"discussed.":[20],"The":[21,41,62,93,106,119],"architecture":[22],"is":[23,55,117,126],"an":[24,45],"extension":[25],"of":[26,47,79,108,121],"behaviour-based":[28],"structure,":[31,43],"which":[32],"has":[33],"been":[34],"applied":[35],"successfully":[36],"to":[37,70,90],"mobile":[38],"robot":[39],"applications.":[40],"system":[42,125],"as":[44],"abstraction":[46],"multiple":[48],"cascaded":[49],"loops":[51],"with":[52],"feedback":[53],"mechanisms,":[54],"robust":[56],"against":[57],"disturbances":[58],"and":[59,65],"model":[60],"uncertainties.":[61],"obstacle":[63],"awareness":[64],"are":[68],"considered":[69],"most":[73],"important":[74],"issues":[75],"field":[78,99],"(UAV),":[83],"thus":[84],"more":[85],"attention":[86],"paid":[89],"topic.":[92],"utilizes":[96],"potential":[98],"method":[100],"tailored":[101],"UAV":[103],"application":[104],"domain.":[105],"formulation":[107],"repulsion":[110],"forces":[111],"based":[112],"on":[113],"radar":[114],"sensor":[115],"measurement":[116],"presented.":[118],"implementation":[120],"also":[127],"described.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}